三自由度机器人仿真出错，请大家帮帮忙！

小弟刚接触ADAMS用于毕业设计,在建模完成并添加约束后仿真时出现如下错误信息:
ERROR:   Failure to satisfy velocity initial conditions.  A probable cause is an over-specification of initial velocities of bodies.  Please specify fewer initial velocities and try again
ERROR:   Simulation failure detected.
ERROR:   Simulation failure detected.
驱动用的是STEP函数,并且所有构件初速度设置为0

Model verify 结果如下:
其中显示没有质量或定义驱动约束的构件都是建模中产生的,后来被布尔运算了!
Model verified successfully
VERIFY MODEL: .model_industrialrobot
  42 Gruebler Count (approximate degrees of freedom)
  11 Moving Parts (not including ground)
   3 Revolute Joints
   1 Fixed Joints
   3 Motions
This model has one or more degree of freedom and there are
parts without mass properties. Check the following parts to ensure
that they are valid without mass properties specified:
Part .model_industrialrobot.PART_2 has no center-of-mass marker
Part .model_industrialrobot.PART_2 has no mass
Part .model_industrialrobot.PART_3 has no center-of-mass marker
Part .model_industrialrobot.PART_3 has no mass
Part .model_industrialrobot.PART_4 has no center-of-mass marker
Part .model_industrialrobot.PART_4 has no mass
Part .model_industrialrobot.PART_5 has no center-of-mass marker
Part .model_industrialrobot.PART_5 has no mass
Part .model_industrialrobot.PART_10 has no mass
Part .model_industrialrobot.PART_11 has no mass
Part .model_industrialrobot.PART_14 has no mass
The following parts have no constraints or
forces acting on them.  You may want to verify
that they are valid without constraints and forces.
Part .model_industrialrobot.PART_2 has no constraints or forces acting on it
Part .model_industrialrobot.PART_3 has no constraints or forces acting on it
Part .model_industrialrobot.PART_4 has no constraints or forces acting on it
Part .model_industrialrobot.PART_5 has no constraints or forces acting on it
Part .model_industrialrobot.PART_10 has no constraints or forces acting on it
Part .model_industrialrobot.PART_11 has no constraints or forces acting on it
Part .model_industrialrobot.PART_14 has no constraints or forces acting on it
  42 Degrees of Freedom for .model_industrialrobot
There are no redundant constraint equations.

Model verified successfully
不知道是哪里出现了问题,请大家帮帮忙!
如果需要模型文件请留 油箱,我发给大家,谢谢了!!

1、菜单Tools->Database Navigator...打开数据库浏览窗口，将下方的Highlight钩上。然后逐个点击数据库浏览窗口中的各Part。点击某Part时，主窗口中对应的Part会高亮显示。找出那些没有几何形状只有坐标系的Part，将它们全部删掉。
2、 菜单Edit->Delete将多余的PART删除掉
3、通过modify剩下的Part，给它们都赋予材料（质量）。

wo ye bu hui

自己顶一下~~求解!

自己顶一下~~求解!

自己顶一下~~求解!